Systems for automated carriage of items for delivery

ABSTRACT

Methods and systems for attaching and detaching an item satchel from an autonomous delivery unit. An attachment system includes an attachment system frame, and a satchel comprising a plurality of external pins. The attachment system also includes a plurality of hooks, mechanically attached to the frame, each hook including a first engagement surface and a second engagement surface, one or more electric actuators, mechanically attached to the frame, and mechanically connected to the plurality of hooks. Each of the first engagement surfaces engage a corresponding pin of the plurality of external pins at a first position between the horizontal and vertical positions, and each of the second engagement surfaces engage the corresponding pin of the plurality of external pins at the vertical position to secure an item satchel to an autonomous delivery unit.

INCORPORATION BY REFERENCE OF ANY PRIORITY APPLICATIONS

Any and all applications for which a foreign or domestic priority claimis identified in the Application Data Sheet as filed with the presentapplication are hereby incorporated by reference under 37 CFR 1.57. ThisApplication is a continuation of U.S. application Ser. No. 15/851,516,filed Dec. 21, 2017, which claims the benefit of priority to U.S.Provisional Application No. 62/437,597, filed Dec. 21, 2016, the entirecontents of which are hereby incorporated by reference.

FIELD

Embodiments relate generally to automated item distribution thatincludes the use of unmanned delivery or pick-up transportation devices.

BACKGROUND

The capabilities of unmanned vehicles are expanding significantly.Thanks in large part to modern electronic controls, includingminiaturized global position system receivers and accelerometers,unmanned vehicles are now able to navigate between two points withouthuman assistance. Furthermore, the revolution in unmanned vehicle designto include multiply redundant electric motors has made unmanned aerialvehicles (UAVs) more reliable and controllable. Unmanned vehicles arealready gaining wide spread adoption for military tasks. Proposals toutilize unmanned vehicles for civilian duties are also gainingacceptance. In particular, utilization of unmanned vehicles for deliveryand pick-up of items has been suggested as a way to improve deliverytimes while reducing traffic and pollution associated with traditionalforms of truck based item delivery and pick-up. Therefore, improvedmethods and apparatus for unmanned delivery and pick-up of items areneeded.

SUMMARY

Various implementations of systems, methods and devices within the scopeof the appended claims each have several aspects, no single one of whichis solely responsible for the desirable attributes described herein.Without limiting the scope of the appended claims, some prominentfeatures are described herein.

Details of one or more implementations of the subject matter describedin this specification are set forth in the accompanying drawings and thedescription below. Other features, aspects, and advantages will becomeapparent from the description, the drawings, and the claims. Note thatthe relative dimensions of the following figures may not be drawn toscale.

Methods and apparatus for attachment of items to unmanned vehicles aredisclosed. One aspect disclosed is an item attachment system. The systemmay include an attachment system frame, a satchel comprising a pluralityof external pins, a plurality of hooks, mechanically attached to theframe, each hook including a first engagement surface and a secondengagement surface, one or more electric actuators, mechanicallyattached to the frame, and mechanically connected to the plurality ofhooks so as to provide for rotation of the hooks between a horizontaland a vertical position, an electronic controller, configured toenergize the one or more electric actuators so as to rotate the hooksfrom the horizontal to the vertical position, such that each of thefirst engagement surfaces engage a corresponding pin of the plurality ofexternal pins at a first position between the horizontal and verticalpositions, and each of the second engagement surfaces engage acorresponding pin of the plurality of external pins at the verticalposition.

In a first embodiment, an item attachment system is described. The itemattachment system comprises an attachment system frame, a satchelcomprising a plurality of external pins, a plurality of hooks,mechanically attached to the frame, each hook comprising a firstengagement surface and a second engagement surface, one or more electricactuators, mechanically attached to the frame, and mechanicallyconnected to the plurality of hooks so as to provide for rotation of thehooks between a horizontal and a vertical position, and an electroniccontroller, configured to energize the one or more electric actuators soas to rotate the hooks from the horizontal to the vertical position,such that each of the first engagement surfaces engages a correspondingpin of the plurality of external pins at a first position between thehorizontal and vertical positions, and each of the second engagementsurfaces engage the corresponding pin of the plurality of external pinsat the vertical position.

In some embodiments, the item attachment system further comprises afixed latch, mechanically attached to the frame, and configured tohorizontally engage a pin of the plurality of pins.

In some embodiments, the satchel comprises a bottom portion and a topportion movably coupled to the bottom portion by a hinge.

In some embodiments, the electronic controller is further configured torotate the hooks from the vertical position to the horizontal position,so as to release the satchel from the attachment system frame.

In some embodiments, the item attachment system further comprises anautonomous delivery vehicle mechanically attached to the attachmentsystem frame.

In some embodiments, the autonomous delivery vehicle further comprises acontrol processor configured to detect a signal from a proximity sensorassociated with a delivery point, and navigate the autonomous deliveryvehicle based on the signal.

In some embodiments, the proximity sensor is located proximate to areceptacle, and the control processor is further configured to navigatethe autonomous delivery vehicle to the receptacle based on the signalfrom the proximity sensor.

In some embodiments, the control processor is further configure to landthe autonomous delivery vehicle on an interior platform of thereceptacle based on the signal from the proximity sensor.

In some embodiments, the control processor is further configured to moveat least a portion of the autonomous delivery vehicle through an openingof the receptacle based on the signal from the proximity sensor.

In some embodiments, the satchel further comprises a beacon generatorconfigured to generate a beacon signal, and the autonomous deliveryvehicle further comprises a control processor, the control processorconfigured to detect the beacon signal and navigate the autonomousdelivery vehicle based on the beacon signal.

In a second embodiment, an autonomous delivery vehicle is described. Theautonomous delivery vehicle comprises an attachment system and a controlprocessor. The attachment system comprises a plurality of fixed latches,each fixed latch comprising a slot configured to accept an external pinof an item, a plurality of hooks, each hook associated with acorresponding one of the plurality of fixed latches, each hook rotatablebetween a first orientation in which an external pin can enter or leavethe corresponding fixed latch, and a second orientation in which anexternal pin is prevented from entering or leaving the correspondingfixed latch, and one or more electric actuators mechanically connectedto the plurality of hooks, the one or more electric actuators configuredto rotate the plurality of hooks between the first orientation and thesecond orientation. The control processor is configured to detectwireless signals associated with at least one of an item and a deliverypoint, and navigate the autonomous delivery vehicle based at least inpart on the wireless signal.

In some embodiments, each hook comprises a first engagement surface anda second engagement surface, and the control processor is furtherconfigured to energize the one or more electric actuators so as torotate the hooks from the first orientation to the second orientation,such that each of the first engagement surfaces engages a correspondingexternal pin of the item at a first position between the firstorientation and the second orientation, and each of the secondengagement surfaces engage the corresponding pin at the secondorientation.

In some embodiments, the wireless signals comprise a location signalassociated with an item to be picked up, and the control processor isfurther configured to navigate the autonomous delivery vehicle to alocation associated with the location signal, cause the autonomousdelivery vehicle to move into a carry position such that a plurality ofexternal pins of the item are engaged within the fixed latches, causethe one or more electronic actuators to rotate the plurality of hooksfrom the first orientation to the second orientation to secure the itemto the autonomous delivery vehicle by retaining the external pins withinthe fixed latches, and navigate the autonomous delivery vehicle awayfrom the location while the item is secured to the autonomous deliveryvehicle.

In some embodiments, the wireless signals comprise a beacon signalemitted from a predetermined location of the item, and the controlprocessor is further configured to cause the autonomous delivery vehicleto move into a carry position relative to the item based at least inpart on the beacon signal.

In some embodiments, the wireless signals comprise a location signalassociated with a delivery point for an item being carried by theautonomous delivery vehicle, and the control processor is furtherconfigured to navigate the autonomous delivery vehicle to a locationassociated with the location signal, cause the one or more electronicactuators to rotate the plurality of hooks from the second orientationto the first orientation to release the item from the autonomousdelivery vehicle by releasing the external pins from the fixed latches,and navigate the autonomous delivery vehicle away from the item.

In some embodiments, the location signal is associated with a receptaclecomprising an opening, and the location associated with the locationsignal comprises a location in which at least a portion of theautonomous delivery vehicle is disposed within the opening and the itemis disposed within the receptacle.

In some embodiments, the fixed latches are sized and spaced toaccommodate external pins of an item satchel having external pins in apredetermined arrangement compatible with the autonomous deliveryvehicle.

In some embodiments, the attachment system further comprises a springforce element configured to retain the hooks in the second orientation.

In some embodiments, the autonomous delivery vehicle comprises anunmanned aerial vehicle.

In some embodiments, the autonomous delivery vehicle further comprises aplurality of wheels for travel along the ground.

BRIEF DESCRIPTION OF THE DRAWINGS

In the figures, similar components and/or features can have the samereference label. Further, various components of the same type can bedistinguished by following the reference label by a second label thatdistinguishes among the similar components. If only the first referencelabel is used in the specification, the description is applicable to anyone of the similar components having the same first reference labelirrespective of the second reference label.

FIG. 1 is an overview diagram of item delivery via an autonomousdelivery unit.

FIG. 2 is exemplary autonomous delivery container.

FIG. 3 shows an exemplary item deposit and/or pick up receptacle.

FIG. 4 shows an embodiment of an ADU carrying an item container.

FIG. 5 shows another embodiment of a system for securing an itemcontainer or satchel to an aerial autonomous delivery unit (ADU).

FIG. 6 shows another view of the attachment system of FIG. 5 during anattachment process.

FIG. 7 shows another view of the attachment system of FIGS. 5 and 6during the attachment process.

FIG. 8 is a structured block diagram of a portion of an exemplaryattachment system.

FIG. 9 is a flowchart of a method for attaching an item satchel to anADU.

FIG. 10 is an exemplary proximity sensor.

FIG. 11 is an exemplary proximity sensor.

FIG. 12 is an exemplary block diagram of an ADU.

DETAILED DESCRIPTION

In the following description, numerous specific details are set forth toprovide a thorough understanding of the present disclosure. However, onehaving ordinary skill in the art should recognize that the disclosurecan be practiced without these specific details. In some instances,circuits, structures, and techniques have not been shown in detail toavoid obscuring the present disclosure.

Methods and systems disclosed provide for automation of item deliveryand/or pick-up via the use of autonomous delivery units (ADUs). Itemstransferred and/or delivered by the systems and methods described hereincan be various types of items, for example, parcels, packages, crates,boxes, envelopes, flats, cards, or other items transported by adistribution network such as a postal network, a delivery service, orthe like. Items may further include containers, satchels, packages, orother items configured to contain additional items. The methods andsystems disclosed may advantageously allow an ADU to securely andautonomously attach and/or detach items without intervention from anoperator.

FIG. 1 is an overview diagram of an autonomous item attachment system.The item can be any item which is to be transported from an origin orpick-up location 125 to a destination drop off location 130. The pick-uplocation 125 may be a delivery point, a location at residential address,such as a front porch or other location or receptacle associated with ahouse, a designated area at a commercial address, a vehicle associatedwith the ADU 110, such a as a mail delivery vehicle, or other similararea. The drop off location 130 can be a delivery point, an address, areceptacle, a designated area at a particular location, such as at ahome or business, a porch, or any other delivery point suitable toreceive delivery of the item 120.

As shown, an autonomous delivery unit (ADU) 110 may pick-up the item 120at the pick-up location 125. The ADU 110 may carry the item 120 to thedrop off location 130, at which point, the ADU 110 releases the item 120and may fly away. In some embodiments, ADUs may also be ground basedvehicles configured to travel across the ground. As autonomous itemdelivery such as that illustrated in FIG. 1 becomes more common,reliable means of quickly and reliably attaching and detaching the item120 to/from the ADU 110 are needed. The disclosed methods and systemsdescribe item attachment systems that can reliably and securely attachand detach the item 120 to/from the ADU 110.

FIG. 2 is an exemplary autonomous delivery package (ADP). The ADP maycontribute to making ADU delivery more efficient. For example, whiletoday's manually delivered items come in a variety of shapes and sizes,human item delivery carriers are easily able to adapt to these varioussizes when performing their delivery or pick-up function. ADUs may beless able to accommodate today's wide variety of item sizes and types.The exemplary ADP 200 may include a customized shape so as to fitsecurely within some embodiments of an ADU or to be carried by otherembodiments of an ADU. In some embodiments, the ADP 200 may be equippedwith a beacon generator 202 (e.g., a radio transmitter or the like) andconfigured to emit a beacon signal. The beacon signal may allow adistribution network to locate the ADP 200 and/or to detect when an ADU110 is carrying an ADP 200. Some aspects of the ADP 200 may include abutton 204 operably connected to the beacon generator 202. The buttonmay be configured to activate the radio transmitter, which in responsemay emit a second signal. For example, in some embodiments, if a personwishes to have an item picked-up, the person can put the item in an ADP200, or the item can be the ADP 200. The person puts the ADP at apick-up location 130, such as a front porch, driveway, etc., and pushesthe button 204. Pushing the button 204 activates the beacon generator202, and the beacon generator 202 can begin to transmit a signalrecognizable by the distribution network, for example, by an ADU 110,and the ADU 110 can be dispatched to pick up the ADP 200. A distributionnetwork may be configured to retrieve the ADP 200 upon detection of thesecond signal.

In some embodiments, the ADP 200 may be equivalent to item satchels 402or 502 discussed below with respect to at least FIGS. 4-7.

FIG. 3 shows an exemplary item receptacle 300. The receptacle 300 can bea delivery point such as a drop off location and/or a pick up location.The receptacle 300 includes an opening 305 in a top portion of the boxto allow access to an item 120 stored inside. In some embodiments, theopening 305 may provide for access to the item 120 by an aerial ADU 110.The aerial ADU 110 may approach the receptacle 300 from above,descending through the opening 305 to pick up the item 120 from withinthe receptacle 300. The receptacle 300 also includes an interiorplatform 310. The interior platform 310 may be configured to enable anaerial ADU 110 to land at a loading/unloading position within thereceptacle 300. From the loading/unloading position, the aerial ADU 110may attach and/or detach from the item 120. The receptacle 300 may alsobe configured with one or more access door(s) 320. The access door 320may be configured to provide access for a human to retrieve the item 120from the receptacle 300 or store the item 120 in the receptacle 300. Forexample, the access door may be configured with hinges on one side ofthe door, and may include one or more of a locking mechanism andlatching mechanism. The access door 320 may be located on any side panelof the receptacle 300. The receptacle 300 may include a bottom 330 thatmay be perforated in some embodiments to allow rain water and/or otherfluids to drain out the bottom 330 of the receptacle 300. The inset 350of FIG. 3 shows an aerial ADU 110 delivering the item 120 to thereceptacle 300 via the opening 305.

In some embodiments, the receptacle 300 may include a lid portion. Thelid portion may substantially cover the opening 305 in a first position,and may substantially expose the opening 305 in a second position. Insome embodiments, the receptacle 300 may be equipped with actuatingmeans for the lid, such as electric motors and/or gears, to provide forautomated opening and/or closing of the lid portion. In someembodiments, a receptacle may include electronic controls that detect anapproaching ADU 110, and autonomously open the lid to allow access tothe opening 305 by the ADU 110. In some embodiments the electroniccontrols may autonomously close the lid when the ADU 110 departs aproximity of the receptacle 300. In some embodiments, the receptacle 300may be configured with an active or passive proximity sensor. Exemplaryactive and passive proximity sensors are discussed below with respect toFIGS. 10 and 11. In some embodiments, an ADU may locate the receptacle300 based on signals emitted from one or more of an active or passiveproximity sensor. In some embodiments, signals from an active or passiveproximity sensor may emit identification information for the receptacle300. For example, a plurality of receptacles (not shown) may each beprovided with a unique identification number. A corresponding pluralityof proximity sensors may emit an identification number for theirrespective receptacles. As an ADU approaches a general location of thereceptacle 300, the ADU 110 may detect a signal from a proximity sensorassociated with the receptacle 300. The signal may provide anidentification number. The ADU 110 may compare the identification numberreceived from the proximity sensor to information associated with anitem the ADU 110 may be tasked to either pick-up or deliver. If thecomparison matches, the ADU 110 may determine that the signal receivedfrom the proximity sensor is for a receptacle associated with the item.The ADU 110 may then proceed to approach the receptacle 300 andpick-up/drop-off the item from/to the receptacle 300.

FIG. 4 shows an exemplary ground-based ADU 110 carrying an itemcontainer 402. The item container 402 is configured to receive andenclose an item for delivery. In some embodiments, the item container402 is considered the item, and the item itself can be configuredsimilar to the item container 402 described herein below. The itemcontainer 402 is equipped with pins 405 a, 405 b. The pins 405 a, 405 bmay be positioned on a lower portion of a first side 404 of the itemcontainer 402. An opposite side of the item container 402 (not shown)may also include pins in a similar configuration as the pins 405 a, 405b.

The ADU 110 comprises a drive mechanism 406, a platform 408 configuredto receive the item container 402, and hooks 415 a, 415 b. The drivemechanism includes a plurality of tracks 412. Each track includes afirst wheel 414 and a second wheel 416. The hooks 415 a, 415 b aredisposed along a first side 409 of the platform 408, and are configuredto engage corresponding pins 405 a, 405 b on the item container 402. Anopposite side of the ADU 110 (not shown) may also include hooks in asimilar configuration as the hooks 415 a, 415 b. The hooks 415 a, 415 bare configured to securely attach the item container 402 to the ADU 110.As shown in one inset of FIG. 4, depicting a close up view of the hook415 b in a first, engaged position, the hooks 415 a, 415 b include ahinge point 462, an extension portion 464, and an engagement portion421. The engagement portions 421 are contiguous with the extensionportions 464 and extend at an angle from the extension portions 464 soas to create an engagement point 466 at the intersection of theextension portion 464 and the engagement portion 421. The extensionportion 464 is connected to the hinge point 462. The hinge point 462 canbe a point of rotation for the extension portion around an axis definedby the hinge point 462. The extension portion 464 can be moveable at thehinge point 462 by an electric or pneumatic motor, solenoid, or othersimilar actuation mechanism. Another inset of FIG. 4, shows a close upview of the hook 415 b in a second, disengaged position.

In some embodiments, the engagement portion 421 has a curved engagementsurface 420, 420 a, 420 b which enables the engagement portion 421 togenerate a force on the pins 405 a, 405 b, as will be described infurther detail below. In some embodiments, the engagement portion 421comprises a first end 430, 430 a, 430 b opposite the engagement point466.

In operation, the hooks 415 a, 415 b are moveable to facilitateengagement of the pins 405 a, 405 b at the engagement point 466 when theitem container 402 is placed on the ADU 110 from a position above theADU 110. In some embodiments, the hooks 415 a, 415 b are in an unlatchedposition (not shown). An item container 402 can be placed on theplatform 408. When the item is placed on the platform 408, the hooks 415a, 415 b are actuated, rotating about the hinge point 462 into thelatched position depicted in FIG. 4, such that the engagement point 466contacts the pin 405. In some embodiments, the curved engagement surface420 slides along the pins 405 to impart a force to the pin 405, whichpulls the item container 402 into a secured position against theplatform 408. The hooks 415 a, 415 b can be rotated using a motor,solenoid, or other powered mechanism capable of exerting a torque aboutan axis.

In some embodiments, as the item container 402 is being placed on theplatform 408, the pins 405 a, 405 b may engage a curved upper surface ofthe engagement surfaces 420 a, 420 b, causing the hooks 415 a, 415 b tomove against a spring force in a direction indicated by the arrows 425a, 425 b. As the pins 405 a, 405 b move past the first ends 430 a, 430 bof the extension portions 421 a, 421 b, the hooks 415 a, 415 b can bereturned by the spring force, in a direction opposite the directionshown by the arrows 425 a, 425 b and into the position shown in FIG. 4,thereby engaging the pins 405 a, 405 b. In some embodiments, the springforce can be applied by a resilient member, a spring, a counterweight,or the like. In some embodiments, the force applied to the hooks 415a-415 b may rely on a non-powered means, to ensure the engagement of thehooks 415 a, 415 b to the pins 405 a, 405 b persists in the event of anADU malfunction, for example, if all power to the ADU is lost. In someembodiments, the ADU 110 may include a manual or powered mechanism torelease the hooks 415 a, 415 b from the pins 405 a, 405 b. The mechanismmay cause the hooks to move in the direction 425 a, 425 b such that thepins can disengage from the hooks 415 a, 415 b.

FIGS. 5-7 depict another embodiment of an attachment system 500 forsecuring an item container or satchel to an aerial ADU 110. Generallydescribed, the attachment system 500 can be located on an underside ofan aerial ADU 110 for securing a corresponding item or item satchel 502to the ADU 110. In sequence, FIGS. 5-7 illustrate a process of pickingup an item by the ADU 110 using the attachment system 500. As shown inFIG. 5, an item satchel 502 is in a position suitable for carriage bythe ADU 110. The item satchel 502 may provide for carriage of an itemcontained within.

Referring jointly to FIGS. 5-7, the attachment system 500 generallyincludes a frame 501, fixed latches 510 a, 510 b, and hooks 515 a-515 cwhich are attached directly or indirectly to the frame 501 (fixedlatches 510 c, 510 d and hook 515 d are similar structures located onthe distal side of the attachment system not shown in FIGS. 5-7). Theexemplary fixed latch 510 a is shown to include a latch extension 602attached to the frame 501. The latch extensions 602 include slots 604 a,604 b configured to accept pins 505 a and 505 b of the item satchel 502.As shown in FIGS. 6-7, the item satchel 502 includes pins 505 a-505 d(505 c, 505 d on distal side of item satchel 502 not shown in FIGS.5-7). An opposite side of the item satchel 502 (not shown) may besimilarly configured with the pins 505 c, 505 d and the hook 515 a. Insome embodiments, the item satchel 502 may be the delivery item itself,but may still comprise pins 505 a-505 d. In these embodiments, there maynot be an item satchel 502 separate from the item itself. In someembodiments, the satchel 502 may have fewer or more pins than theexemplary item satchel 502 of FIG. 5. In some embodiments, the itemsatchel 502 may include at least two portions which form an enclosure inwhich an item is carried. The two portions may be configured to open toallow insertion and removal of an item. For example, the satchel maycomprise a bottom portion, and a top portion. In some embodiments, thetwo portions may be connected via a hinge. After insertion of an itemwithin one of the two portions, the two portions may be configured to bejoined together via a latch system.

The frame 501 provides structural support for the attachment system 500.In some embodiments, at least one, two three, four or more hooks 515a-515 c may be utilized to secure the item satchel 502 to the frame 501via the pins 505 a-505 b and other hooks and pins which are not visiblein FIGS. 5-7. In some embodiments, the satchel 502 may be secured to theframe 501 via a combination of fixed latches and hooks. For example, thefixed latches may provide a mounting point for two or more of the pins505 a-505 d. In these embodiments, additional hooks may press the two ormore pins 505 a-505 d against the fixed latches. In one example, onlytwo hooks 515 b, 515 c may be provided, with the hooks 515 b, 515 cproviding sufficient force to retain all four pins 505 a-505 d withintheir respective fixed latches 510 a-510 d.

FIG. 5 depicts an initial position of the attachment system 500 and itemsatchel 502 prior to attaching the item satchel 502 to the ADU 110. As afirst step in attaching the item satchel 502 to the attachment system500, the item satchel 502 may be slid horizontally in the direction ofarrow 605 into the carry position depicted in FIG. 6. Alternatively orin addition, the ADU 110 may move in a direction opposite the arrow 605while the item satchel 502 remains stationary. For example, the itemsatchel 502 may be slid by a user when the loading of the item satchel502 to the ADU 110 is being performed at least partially by the user.When the ADU 110 attaches the item satchel 502 autonomously without userintervention, the ADU 110 may approach the item satchel 502 in theposition shown in FIG. 5, before moving horizontally opposite the arrow605 to engage the item satchel 502 in the carry position of FIG. 6.

As the item satchel 502 and/or ADU 110 move into the carry position, thepin 505 a engages the slot 604 a of the fixed latch 510 a. The pin 505 bmay similarly engage the slot 604 b of the fixed latch 510 b. Thus, inthe carry position of FIG. 6, the pin 505 a is shown engaged within thefixed latch 510 a, and the pin 505 b is shown engaged within the fixedlatch 510 b. As shown in FIG. 6, the hooks 515 a-515 d are in adisengaged position, allowing the pins 505 a-505 d to engage the fixedlatches 510 a-510 d. Hooks 515 a, 515 b may be configured to engage pins505 a, 505 b respectively when rotated to an engaged position. Hook 515c may be configured to engage a pin 505 c positioned on an opposite sideof the item satchel 502, and a similarly configured hook 515 d (notshown) may be configured to engage a pin 505 d (not shown) positionedopposite the item satchel 502 from pin 505 a.

As shown in FIG. 6, exemplary hook 515 b includes a first pin engagementsurface 520 a and a second pin engagement surface 520 b. When the hook515 b is rotated from the disengaged position to the engaged position(as shown in FIG. 7), it passes through an intermediate position wherethe first pin engagement surface 520 a engages the pin 505 b, at a firstdistance from the frame 501 of the attachment system 500 This firstdistance may facilitate ensuring the engagement surface 520 a of thehook 515 b passes beneath the pin 515 b. The first distance may be suchthat an adequate margin exists between the engagement surface 520 a andthe pin 505 b given manufacturing tolerances of the hook 515 b, pin 505b, item satchel 502, and the attachment system 500. As the hook 515 bcontinues toward a vertical position, the second engagement surface 520b may engage the pin 505 b. Engagement of the second engagement surface520 b with the pin 505 b may cause the item satchel 502 to be drawnsecurely to the frame 501 of the attachment system 500. Hook 505 a maybe configured with a similar first and second engagement surface.Furthermore, in some embodiments, the attachment system 500 may includetwo additional hooks positioned on an opposite side of the engagementsystem 500.

Thus, FIG. 7 depicts the attachment system 500 in a final position afterthe hooks 515 a-515 d have rotated as described above. In FIG. 7, thehooks 515 a, 515 b are shown in a vertical, engaged position, so as tosecure the item satchel 502 to the ADU 110. As shown, the secondengagement surface 520 b of the hook 515 b has engaged the pin 505 b soas to secure the item satchel 502 to the frame 501 of the attachmentsystem 500. With the item satchel 502 secured as shown in FIG. 7, theADU 110 may begin traveling to a delivery point of the item satchel 502(e.g., a drop-off location, a receptacle, or the like). The pins 505a-505 d are secured between the fixed latches 510 a-510 d and the hooks515 a-515 d such that the item satchel 502 remains rigidly fixed to theADU 110 during travel. When the ADU 110 arrives at the delivery point,the attachment process depicted in FIGS. 5-7 may be reversed. From theposition depicted in FIG. 5, the ADU 110 may travel away from the itemsatchel 502, leaving the item satchel 502 behind at the delivery point.

FIG. 8 is a structured block diagram of a portion of the exemplaryattachment system 500. In some embodiments, the attachment system 500may be mounted to an ADU 110. The attachment system 500 includes anelectronic hardware processor 805, a wireless interface 810, and fourhook electronic controllers 815 a-815 d. Each hook controller 815 a-815d is coupled to at least one of electric actuators 820 a-820 drespectively. In some embodiments, the electric actuators 820 a-820 dmay be electric motors. The electronic hardware processor 805 maycommunicate with an attachment control system (not shown) over awireless connection via the wireless interface 810. In response tocommands received via the wireless interface 810, the processor 805 maycommand one or more of the hook controllers 815 a-815 d to move one ormore corresponding hooks, such as the hooks 515 a-515 d illustrated inFIGS. 5-7, into an engaged or disengaged position. For example, theprocessor 805 may command the hook controller 815 a to move the hook 515a from a position shown in FIG. 6 to a position shown in FIG. 7. Thehook controller 815 a may provide power to the electronic motor 820 a inresponse to the command. The electric motor 820 a may be mechanicallyconnected to the hook 515 a as illustrated in FIG. 5, such that whenengaged, the electric motor causes the hook 515 a to move. In responseto a second command, the processor 805 may command the hook controller815 a to move the hook 515 a from the position shown in FIG. 7 to theposition shown in FIG. 5.

FIG. 9 is a flowchart of a method for attaching an item satchel to anADU. In some embodiments, the method may attach an item to an aerial UAVitem attachment system, such as that illustrated in FIGS. 5-8 above. Insome embodiments, at least some portions of the process 900 of FIG. 9may be performed by the processor 805 discussed above with respect toFIG. 8.

In block 905, an item satchel is moved horizontally beneath an aerialADU, such as the ADU 110 illustrated in FIGS. 5-7. In some embodiments,block 905 may be performed by a human operator, who manually positionsthe satchel beneath the ADU and the attachment system. In someembodiments, an automated means, such as a conveyer system or roboticsatchel movement system, may perform block 905. In some embodiments, theADU may be moved into position near the item satchel, and movedhorizontally relative to a stationary item satchel in order to move thefixed latch 510 a into contact with one or more pins 505.

In block 910, hooks of the attachment system are rotated so as to engagethe first pins and additional pins of the satchel with a first surfaceof the hooks. As illustrated in FIGS. 5-7, a hook 515 b of theattachment system 500 may be rotated so as to engage a first surface 520a with the pin 505 b. Other hooks, such as the hooks 515 a and 515 c,515 d (515 d not visible in FIG. 5) may also be rotated to engagecorresponding pins with a similar first surface. In some embodiments,block 910 may be performed by the processor 805 of FIG. 8. In someembodiments, the processor 805 may receive a command via the wirelessinterface 810 to rotate the hooks of the attachment system. In response,the processor 805 may send a command to one or more of the hookcontrollers 815 a-815 d. The hook controllers may send electrical powerto the electric motors 820 a-820 d. The electric motors 820 a-820 d maybe mechanically connected to the hooks 515 a-515 d, so as to rotate thehooks.

In block 915, the hooks are further rotated so as to engage the firstpins and additional pins of the satchel with a second surface of thehooks. The engagement of the second surface of the hooks with the pinsdraws the satchel toward a frame 501 of the ADU attachment system. Forexample, as discussed with respect to FIG. 5, in some embodiments thehooks 515 a-515 d include first and second surfaces 520 a, 520 brespectively. In these embodiments, engagement of the first surface 520a of the hook 515 b with the pin 520 b positions the item satchel 502 ata first distance from the frame 501 of the attachment system 500. As thehook 515 b continues to rotate into a vertical position, the pin 505 bis engaged by the second surface 520 b of the hook 515 b. Engagementwith the second surface 520 b causes the satchel 502 to be drawn up to asecond position with a second distance, closer to the frame 501 of theattachment system than when the pin 505 b is engaged by the firstsurface 520 a of the hook 515 b. Block 915 may include rotation of atleast four hooks, such as hooks 515 a-515 d discussed above with respectto FIG. 5, to engage four corresponding pins, such as pins 505 a-515 dof FIG. 5 with second surfaces of each of the hooks 515 a-515 d (onlysecond surface 520 b of hook 515 b is shown in FIG. 5 to preserve figureclarity).

FIG. 10 depicts an exemplary proximity sensor 1000. In some embodiments,the proximity sensor 1000 may be physically positioned at an itempick-up and/or drop off location, such as the receptacle 300 illustratedin FIG. 3. The proximity sensor 1000 may be configured to emit a signalthat may be detectable by an ADU 110. The ADU 110 may utilize the signalemitted by the proximity sensor to determine a landing position so as topick-up or deliver an item. In some embodiments, the proximity sensor1000 may utilize RFID technology. In some of these embodiments, theproximity sensor 1000 may be configured to emit an RFID signal when anearby ADU 110 emits a magnetic field configured to energize theproximity sensor 1000. In some embodiments, the proximity sensor 1000may be an active RFID tag. As such, in these embodiments, the proximitysensor 1000 may be internally powered via a battery, or may receiveexternal power, from, in some embodiments, a wall source or other sourceof electric power.

FIG. 11 depicts a further embodiment of an exemplary proximity sensor.The proximity sensor 1100 may, in some embodiments, may be physicallypositioned at an item pick-up and/or drop off location, such as aposition proximate to the receptacle 300 illustrated in FIG. 3. In someembodiments, the proximity sensor 1100 may be powered via one or moresolar cells 1105. The proximity sensor 1100 may utilize passive or RFIDtechnology to emit a signal. An ADU 110 may be configured to adjust itscourse and/or landing position so as to pick up or drop off an itembased on the emitted signal. In some embodiments, the proximity sensor1100 will include an outer casing 1110. The outer casing 1110 may bedivided into at least two parts, shown in FIG. 11 as an upper and alower outer casing 1110 a-b respectively. As discussed above, in someembodiments, one or more of the proximity sensors 1000 or 1100 of FIGS.10-11 may be included with the receptacle 300 of FIG. 3.

FIG. 12 is an exemplary block diagram of an ADU 110. The ADU 110 of FIG.12 includes an electronic hardware processor 1205, and a wirelessinterface 1210. In some embodiments, the electronic hardware processor1205 may be configured to control the ADU 110, such as navigationfunctions of the ADU 110. In some embodiments, the processor 1205 may beconfigured to receive a beacon or other locating signal generated by theADP 200 of FIG. 2, or the satchel 502 of FIGS. 5-7, or the proximitysensor 1100, via the wireless interface 1210. In some embodiments, theADU 110 may perform its navigation functions based on the receivedbeacon. For example, the electronic hardware processor 1205 may beconfigured to steer the ADU 110 to the ADP 200 via the beacon.

In some embodiments, the electronic hardware processor 1205 may beconfigured to receive a signal from a proximity sensor, such as one ormore of the proximity sensors 1000 or 1100 discussed above with respectto FIGS. 10 and 11 via the wireless interface 1210. The electronichardware processor 1205 may be configured to navigate the ADU 110towards the proximity sensor. In some embodiments, the proximity sensormay be positioned within an embodiment of the receptacle 300 of FIG. 3In some embodiments, the electronic hardware processor 1205 may beconfigured to navigate the ADU 110 to the interior platform 310 based onthe signal from the proximity sensor.

In some embodiments, the ADU 110 can include a camera 1215 incommunication with the processor. The camera 1215 can provide visualinformation to the electronic hardware processor 1205, such asdirections to a pick-up or delivery point. For example, a delivery pointmay have a computer readable code, such as a QR code or a barcode on theground, a platform, or other structure at the delivery point. The camera1215 can image the computer readable code and, with the processor 1205and the wireless interface 1210 can determine the identity of thedelivery point, and determine whether the imaged delivery point is theintended destination for the item carried by the ADU 110. In someembodiments, the delivery point may have a distinct visual patter orother feature which the ADU 110 can recognize as a specific deliverypoint.

In some embodiments, the computer readable code at a delivery point mayencode information regarding the delivery point, including address,recipient name, customer preferences, specific directions to the drone,GPS coordinates, and the like which the camera 1215 can image, and theprocessor 1205 can decode, and instruct the ADU 110 accordingly.

The methods disclosed herein include one or more actions for achievingthe described method. The method and/or actions can be interchanged withone another without departing from the scope of the claims. In otherwords, unless a specific order of actions is specified, the order and/oruse of specific actions can be modified without departing from the scopeof the claims.

The functions described can be implemented in hardware, software,firmware, or any combination thereof. If implemented in software, thefunctions can be stored as one or more instructions on a tangiblecomputer-readable medium. A storage medium can be any available tangiblemedium that can be accessed by a computer. By way of example, and notlimitation, such computer-readable media can include RAM, ROM, EEPROM,CD-ROM, or other optical disk storage, magnetic disk storage, or othermagnetic storage devices, or any other tangible medium that can be usedto carry or store desired program code in the form of instructions ordata structures and that can be accessed by a computer. Disk and disc,as used herein, include compact disc (CD), laser disc, optical disc,digital versatile disc (DVD), floppy disk, and Blu-ray® disc where disksusually reproduce data magnetically, while discs reproduce dataoptically with lasers.

A computer program product can perform certain operations presentedherein. For example, such a computer program product can be a computerreadable tangible medium having instructions tangibly stored (and/orencoded) thereon, the instructions being executable by one or moreprocessors to perform the operations described herein. The computerprogram product can include packaging material. Software or instructionscan also be transmitted over a transmission medium. For example,software can be transmitted from a website, server, or other remotesource using a transmission medium such as a coaxial cable, fiber opticcable, twisted pair, digital subscriber line (DSL), or wirelesstechnology such as infrared, radio, or microwave.

Further, modules and/or other appropriate means for performing themethods and techniques described herein can be downloaded and/orotherwise obtained by suitable terminals and/or coupled to servers, orthe like, to facilitate the transfer of means for performing the methodsdescribed herein. Alternatively, various methods described herein can beprovided via storage means (e.g., RAM, ROM, a physical storage mediumsuch as a CD or floppy disk, etc.), such that a user terminal and/orbase station can obtain the various methods upon coupling or providingthe storage means to the device. Moreover, any other suitable techniquefor providing the methods and techniques described herein to a devicecan be utilized. Features implementing functions can also be physicallylocated at various positions, including being distributed such thatportions of functions are implemented at different physical locations.

In describing the present invention, the following terminology will beused: The singular forms “a,” “an,” and “the” include plural referentsunless the context clearly dictates otherwise. Thus, for example,reference to an item includes reference to one or more items. The term“ones” refers to one, two, or more, and generally applies to theselection of some or all of a quantity. The term “plurality” refers totwo or more of an item. The term “about” means quantities, dimensions,sizes, formulations, parameters, shapes and other characteristics neednot be exact, but can be approximated and/or larger or smaller, asdesired, reflecting acceptable tolerances, conversion factors, roundingoff, measurement error and the like and other factors known to those ofskill in the art. The term “substantially” means that the recitedcharacteristic, parameter, or value need not be achieved exactly, butthat deviations or variations including, for example, tolerances,measurement error, measurement accuracy limitations and other factorsknown to those of skill in the art, can occur in amounts that do notpreclude the effect the characteristic was intended to provide.Numerical data can be expressed or presented herein in a range format.It is to be understood that such a range format is used merely forconvenience and brevity and thus should be interpreted flexibly toinclude not only the numerical values explicitly recited as the limitsof the range, but also interpreted to include all of the individualnumerical values or sub-ranges encompassed within that range as if eachnumerical value and sub-range is explicitly recited. As an illustration,a numerical range of “about 1 to 5” should be interpreted to include notonly the explicitly recited values of about 1 to about 5, but alsoinclude individual values and sub-ranges within the indicated range.Thus, included in this numerical range are individual values such as 2,3 and 4 and sub-ranges such as 1-3, 2-4 and 3-5, etc. This sameprinciple applies to ranges reciting only one numerical value (e.g.,“greater than about 1”) and should apply regardless of the breadth ofthe range or the characteristics being described. A plurality of itemscan be presented in a common list for convenience. However, these listsshould be construed as though each member of the list is individuallyidentified as a separate and unique member. Thus, no individual memberof such list should be construed as a de facto equivalent of any othermember of the same list solely based on their presentation in a commongroup without indications to the contrary. Furthermore, where the terms“and” and “or” are used in conjunction with a list of items, they are tobe interpreted broadly, in that any one or more of the listed items canbe used alone or in combination with other listed items. The term“alternatively” refers to selection of one of two or more alternatives,and is not intended to limit the selection to only those listedalternatives or to only one of the listed alternatives at a time, unlessthe context clearly indicates otherwise. The term “coupled” as usedherein does not require that the components be directly connected toeach other. Instead, the term is intended to also include configurationswith indirect connections where one or more other components can beincluded between coupled components. For example, such other componentscan include amplifiers, attenuators, isolators, directional couplers,redundancy switches, and the like. Also, as used herein, including inthe claims, “or” as used in a list of items prefaced by “at least oneof” indicates a disjunctive list such that, for example, a list of “atleast one of A, B, or C” means A or B or C or AB or AC or BC or ABC(i.e., A and B and C). Further, the term “exemplary” does not mean thatthe described example is preferred or better than other examples. Asused herein, a “set” of elements is intended to mean “one or more” ofthose elements, except where the set is explicitly required to have morethan one or explicitly permitted to be a null set.

Various changes, substitutions, and alterations to the techniquesdescribed herein can be made without departing from the technology ofthe teachings as defined by the appended claims. Moreover, the scope ofthe disclosure and claims is not limited to the particular aspects ofthe process, machine, manufacture, composition of matter, means,methods, and actions described above. Processes, machines, manufacture,compositions of matter, means, methods, or actions, presently existingor later to be developed, that perform substantially the same functionor achieve substantially the same result as the corresponding aspectsdescribed herein can be utilized. Accordingly, the appended claimsinclude within their scope such processes, machines, manufacture,compositions of matter, means, methods, or actions.

What is claimed is:
 1. A method of attaching an item attachment systemto a satchel, the method comprising: sliding an attachment system framerelative to a satchel comprising a plurality of external pins, the framecomprising a plurality of fixed mating structures; engaging each of theplurality of external pins with a corresponding one of the fixed matingstructures; rotating, by one or more electric actuators, a plurality ofhooks mechanically attached to the frame from a horizontal position toan intermediate position, wherein each of the plurality of hookscomprises a first engagement surface and a second engagement surface;engaging each of the first engagement surfaces with a corresponding pinof the plurality of external pins; and further rotating, by the one ormore electric actuators, the plurality of hooks from the intermediateposition to a vertical position such that each of the second engagementsurfaces engages the corresponding pin of the plurality of externalpins.
 2. The method of claim 1, wherein each of the fixed matingstructures comprises a fixed latch or a slot configured to horizontallyengage a corresponding pin of the plurality of pins.
 3. The method ofclaim 1, wherein the satchel comprises a bottom portion and a topportion movably coupled to the bottom portion by a hinge.
 4. The methodof claim 1, further comprising rotating the hooks from the verticalposition to the horizontal position to release the satchel from theattachment system frame.
 5. The method of claim 1, wherein theattachment system frame is mechanically attached to an autonomousdelivery vehicle.
 6. The method of claim 5, wherein the autonomousdelivery vehicle comprises a control processor configured to slide theattachment system frame relative to the satchel by navigating theautonomous delivery vehicle.
 7. The method of claim 5, wherein theautonomous delivery vehicle comprises a control processor configured to:detect a signal from a proximity sensor associated with a deliverypoint; and navigate the autonomous delivery vehicle based on the signal.8. The method of claim 7, wherein the proximity sensor is locatedproximate to a receptacle, and wherein the control processor is furtherconfigured to navigate the autonomous delivery vehicle to the receptaclebased on the signal from the proximity sensor.
 9. The method of claim 5,wherein the satchel further comprises a beacon generator configured togenerate a beacon signal, and wherein the autonomous delivery vehiclefurther comprises a control processor, the control processor configuredto detect the beacon signal and navigate the autonomous delivery vehiclebased on the beacon signal.
 10. The method of claim 1, wherein the itemattachment system further comprises a spring force element configured toretain the hooks in the vertical orientation.
 11. A method of operatingan autonomous delivery vehicle, the method comprising, under control ofa control processor: navigating an autonomous delivery vehicle to aposition proximate a satchel comprising a plurality of external pins,the autonomous delivery vehicle comprising an item attachment framehaving a plurality of rotatable hooks attached thereto; moving theautonomous delivery vehicle to a position in which each of the pluralityof rotatable hooks is located proximate a corresponding one of theplurality of external pins; rotating the plurality of rotatable hooksfrom a horizontal position to an intermediate position in which a firstengagement surface of each of the plurality of rotatable hooks engagesthe corresponding one of the plurality of external pins; and furtherrotating the plurality of rotatable hooks from the intermediate positionto a vertical position in which a second engagement surface of each ofthe plurality of rotatable hooks engages the corresponding one of theplurality of external pins, wherein further rotating the plurality ofrotatable hooks draws the satchel toward the autonomous deliveryvehicle.
 12. The method of claim 11, further comprising, after furtherrotating the plurality of rotatable hooks to the vertical position:detecting a wireless signal associated with a delivery point; andnavigating the autonomous delivery vehicle based at least in part on thewireless signal to deliver the satchel to the delivery point.
 13. Themethod of claim 12, further comprising: at the delivery point, rotatingthe plurality of rotatable hooks from the vertical position to thehorizontal position to release the satchel from the autonomous deliveryvehicle; and navigating the autonomous delivery vehicle away from thesatchel.
 14. The method of claim 12, wherein the delivery point includesa receptacle comprising an opening, the method further comprisingnavigating the autonomous delivery vehicle to a location in which atleast a portion of the autonomous delivery vehicle is disposed withinthe opening and the satchel is disposed within the receptacle.
 15. Themethod of claim 11, wherein the autonomous delivery vehicle furthercomprises a plurality of fixed latches each corresponding to one of therotatable hooks, each fixed latch comprising a slot configured to acceptthe corresponding one of the plurality of external pins, wherein theexternal pins can enter or leave the corresponding fixed latches whilethe rotatable hooks are in the horizontal position, and wherein theexternal pins are prevented from entering or leaving the correspondingfixed latches while the rotatable hooks are in the vertical position.16. The method of claim 15, wherein moving the autonomous deliveryvehicle to the position in which each of the plurality of rotatablehooks is located proximate the corresponding one of the plurality ofexternal pins comprises causing the autonomous delivery vehicle totravel horizontally while the rotatable hooks are in the horizontalposition, such that the external pins enter the corresponding fixedlatches.
 17. The method of claim 11, wherein the satchel furthercomprises a beacon generator configured to generate a beacon signal, andwherein the control processor navigates the autonomous delivery vehicleto the position proximate the satchel based at least in part on thebeacon signal.
 18. The method of claim 11, wherein the autonomousdelivery vehicle further comprises a spring force element configured toretain the hooks in the vertical orientation.
 19. The method of claim11, wherein the autonomous delivery vehicle comprises an unmanned aerialvehicle.
 20. The method of claim 11, wherein the autonomous deliveryvehicle further comprises a plurality of wheels for travel along theground.